|Table of Contents|

Dynamics simulation of lower extremity exoskeleton based on human gait

《南京理工大学学报》(自然科学版)[ISSN:1005-9830/CN:32-1397/N]

Issue:
2015年03期
Page:
353-
Research Field:
Publishing date:

Info

Title:
Dynamics simulation of lower extremity exoskeleton based on human gait
Author(s):
Li YangGuan XiaorongXu Cheng
School of Mechanical Engineering,NUST,Nanjing 210094,China
Keywords:
human gaits lower extremity exoskeleton dynamics joints hydraulic driving systems driving parameters zero torque point stability criterion motion control
PACS:
TJ23
DOI:
-
Abstract:
In order to optimize the design of lower extremity exoskeleton,the dynamic simulation of lower extremity exoskeleton is carried out based on the analysis of human gaits.The dynamic data of each joint of lower extremity exoskeleton and the driving parameters of the needed hydraulic driving system are gained and analyzed combining zero torque point(ZMP).The results prove that the traditional stability criterion of the ZMP is too conservative to be suitable for the motion control of lower extremity exoskeleton.

References:

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Last Update: 2015-06-30